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{
"codebase_version": "v2.0",
"robot_type": "ALICEM1",
"total_episodes": 60,
"total_frames": 18424,
"total_tasks": 1,
"total_videos": 60,
"total_chunks": 1,
"chunks_size": 1000,
"fps": 30,
"splits": {
"train": "0:60"
},
"data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
"video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
"features": {
"observation.state": {
"dtype": "float32",
"shape": [
31
],
"names": {
"motors": [
"l_sh_p",
"l_sh_r",
"l_sh_y",
"l_el_p",
"l_wr_y",
"l_wr_p",
"l_wr_r",
"l_hand_index",
"l_hand_middle",
"l_hand_pinky",
"l_hand_ring",
"l_hand_thumb_y",
"l_hand_thumb_p",
"r_sh_p",
"r_sh_r",
"r_sh_y",
"r_el_p",
"r_wr_y",
"r_wr_p",
"r_wr_r",
"r_hand_index",
"r_hand_middle",
"r_hand_pinky",
"r_hand_ring",
"r_hand_thumb_y",
"r_hand_thumb_p",
"head_y",
"head_p",
"waist_y",
"waist_upper_p",
"waist_lower_p"
]
}
},
"action": {
"dtype": "float32",
"shape": [
31
],
"names": {
"motors": [
"l_sh_p",
"l_sh_r",
"l_sh_y",
"l_el_p",
"l_wr_y",
"l_wr_p",
"l_wr_r",
"l_hand_index",
"l_hand_middle",
"l_hand_pinky",
"l_hand_ring",
"l_hand_thumb_y",
"l_hand_thumb_p",
"r_sh_p",
"r_sh_r",
"r_sh_y",
"r_el_p",
"r_wr_y",
"r_wr_p",
"r_wr_r",
"r_hand_index",
"r_hand_middle",
"r_hand_pinky",
"r_hand_ring",
"r_hand_thumb_y",
"r_hand_thumb_p",
"head_y",
"head_p",
"waist_y",
"waist_upper_p",
"waist_lower_p"
]
}
},
"observation.images.left_view": {
"dtype": "video",
"shape": [
360,
640,
3
],
"names": [
"height",
"width",
"channels"
],
"info": {
"video.fps": 30.0,
"video.height": 360,
"video.width": 640,
"video.channels": 3,
"video.codec": "h264",
"video.pix_fmt": "yuv420p",
"video.is_depth_map": false,
"has_audio": false
}
},
"timestamp": {
"dtype": "float32",
"shape": [
1
],
"names": null
},
"frame_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"episode_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"task_index": {
"dtype": "int64",
"shape": [
1
],
"names": null
},
"annotation.human.task_description": {
"dtype": "int64",
"shape": [
1
],
"names": null
}
}
}